Polynomial Time Collision Detection for Manipulator Paths Specified by Joint Motions

Achim Schweikard*

*Corresponding author for this work
15 Citations (Scopus)

Abstract

An exact collision detection algorithm is described and analyzed. The time bound considers the complexity of the solids, the number of joints, and the number of distinct collision configurations. A bound for the number of collision configurations can be taken directly from the input data. The algorithm is based on an exact treatment of trigonometric expressions. The representation of trigonometric constants is discussed in an appendix.

Original languageEnglish
JournalIEEE Transactions on Robotics and Automation
Volume7
Issue number6
Pages (from-to)865-870
Number of pages6
ISSN1042-296X
DOIs
Publication statusPublished - 01.01.1991

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